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7. Servo Parameters
7.3 MDS-C1-Vx Standard Specification (MDS-B-Vx Compatible)
138
No. Items Details Setting range
2213 SV013
ILMT
Current limit
value
Set the normal current (torque) limit value. (Limit
values for both + and - direction.)
When the value is “500” (a standard setting), the
maximum torque is determined by the specification
of the motor.
0 to 999
(Stall [rated]
current %)
2214 SV014
ILMTsp
Current limit
value in special
control
Set the current (torque) limit value in a special
control (initial absolute position setting, stopper
control, etc). (Limit values for both of the + and -
directions.)
Set to “500” when not using.
0 to 999
(Stall [rated]
current %)
2215 SV015
FFC
Acceleration
rate feed
forward gain
When a relative error in the synchronous control is
large, apply this parameter to the axis that is
delaying. The standard setting value is “0”. For the
SHG control, set to “100”.
To adjust a relative error in
acceleration/deceleration, increase the value by 50
to 100 at a time.
0 to 999
(%)
Set this when the protrusion (that occurs due to the
non-sensitive band by friction, torsion, backlash, etc)
at quadrant change is too large.
This compensates the torque at quadrant change.
This is valid only when the lost motion compensation
(SV027 (SSF1/lmc)) is selected.
Type 1: When SV027 (SSF1)/ bit9, 8 (lmc)=01
Set the compensation amount based on the motor
torque before the quadrant change.
The standard setting is “100”. Setting to “0” means
the compensation amount is zero.
Normally, use Type 2.
-1 to 200
(%)
Type 2: When SV027 (SSF1)/ bit9, 8 (lmc)=10
Set the compensation amount based on the stall
(rated) current of the motor.
The standard setting is double of the friction torque.
Setting to “0” means the compensation amount is
zero.
-1 to 100
(Stall [rated]
current %)
2216 SV016
LMC1
Lost motion
compensation
1
When you wish different compensation amount
depending on the direction
When SV041 (LMC2) is “0”, compensate with the
value of SV016 (LMC1) in both of the + and
-directions.
If you wish to change the compensation amount
depending on the command direction, set this and
SV041 (LMC2). (SV016: + direction, SV041: -
direction. However, the directions may be opposite
depending on other settings.)
When “-1” is set, the compensation won’t be
performed in the direction of the command.